CN109783846B - GNSS ocean buoy-based sea level measurement uncertainty evaluation method - Google Patents
GNSS ocean buoy-based sea level measurement uncertainty evaluation method Download PDFInfo
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Abstract
The invention discloses a method for evaluating uncertainty of sea level measurement based on a GNSS ocean buoy, which comprises the following steps: the uncertainty evaluation method disclosed by the invention can improve the accuracy of the uncertainty evaluation of the GNSS tide level measuring buoy data result, ensure that the GNSS tide level measuring buoy provides a qualified and reliable measuring result, and enable the GNSS tide level measuring buoy to better serve the ocean observation field.
Description
Technical Field
The invention relates to the technical field of ocean metering, in particular to a tide level measurement uncertainty evaluation method based on a GNSS ocean buoy.
Background
Measurement uncertainty refers to the characterization of non-negative parameters that give the measured value dispersion based on the information obtained. Assessment of measurement uncertainty is an essential step in the measurement work. The main application occasions are as follows: uncertainty assessment of specific results, uncertainty assessment of routine measurements, and assessment of laboratory calibration measurement capabilities, among others. The uncertainty evaluation of measurement carried out on a GNSS-based ocean buoy tidal level measurement system belongs to the uncertainty evaluation of ocean conventional hydrological measurement. The ocean tide level belongs to one of basic hydrological factors for offshore and offshore observation, and is basic data of activities such as ocean resource development, ocean ecological civilization construction, ocean scientific research, ocean technological innovation, ocean equity maintenance, homeland safety guarantee and the like.
The sea field measurement and the land or laboratory measurement have different characteristics, and in the measurement process, the GNSS tide buoy floats on the sea surface and carries out vertical motion and horizontal shaking along with the fluctuation and fluctuation of the sea surface; the sea environment also changes at any time, different sea level conditions bring different attitude changes to the buoy, and different weather conditions cause different influences on the receiving quality of GNSS electromagnetic waves; the sea level measured by the buoy also varies over time. Therefore, from the measurement perspective, in the measurement process of the GNSS tide buoy, the measurement system, the measurement environment and the measured quantity have the characteristics of time-varying property, randomness, correlation and the like. The measurement process is not only a dynamic measurement, but also a dynamic measurement.
At present, the main theories for dynamic measurement include a grey theory, a Bayes theory, a Monte Carlo method and the like, the equations for calculating the dynamic uncertainty are different and are consistent in nature, and the dynamic uncertainty is used as a time function for research. Currently, there is no assessment method for uncertainty in the measurement of tide level based on GNSS ocean buoys.
Disclosure of Invention
In order to solve the technical problems, the invention provides a sea level measurement uncertainty evaluation method based on a GNSS ocean buoy, so as to achieve the aim of providing accuracy reference for ocean sea level measurement data and better serving the ocean observation field.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a tide level measurement uncertainty assessment method based on a GNSS ocean buoy comprises the following steps:
(1) A tidal level measurement model is established,
in the formula (I), the compound is shown in the specification,
t is the tidal level measurement per minute;
n is the number of results of the instantaneous sea level height observed by the buoy in each minute;
H i the ith instantaneous sea surface elevation result in every minute;
(2) Dynamic measurement result H in minute i The correlation coefficient is 1, and the sensitivity coefficient is obtained by derivation of the measurement function
From this, the synthetic standard uncertainty u of the tidal level measurement T per minute is determined c (T)：
The ith instantaneous sea surface elevation result H in each minute needs to be determined i ，
H i ＝H 0i -h i -N (3)
In the formula (I), the compound is shown in the specification,
H 0i measuring the ith geodetic height in every minute for the observation station after differential solution;
h i correcting the ith elevation of the GNSS antenna of the observation station in every minute, namely the vertical distance from the phase center of the GNSS antenna to the sea surface under the marine dynamic environment;
n is an elevation abnormal value of the sea area measured by the buoy, and the value is obtained through a model algorithm and is a fixed value;
the three quantities in equation (3) are uncorrelated, thereby determining the ith instantaneous sea surface elevation result H in minutes i Standard uncertainty u (H) i ，
In the formula (I), the compound is shown in the specification,
u(H 0 ) i is H 0i Standard uncertainty of (2);
u(h) i is h i Standard uncertainty of (2);
u (N) is the standard uncertainty of N;
substituting the formula (4) into the formula (2), and calculating to obtain the synthetic standard uncertainty u c (T) u per minute c (T) arranging the sequence according to time sequence to obtain a tide level synthesis standard uncertainty sequence u c (T) j Wherein j represents the jth minute within the observation period;
(5) Calculating an extended uncertainty U pj ，
U 99j ＝k p ×u c (T) j (5)
In the formula (I), the compound is shown in the specification,
determining the tide level T to be uniformly distributed, and taking the inclusion probability p =0.99, then including the factor k p ＝1.71。
In the above scheme, H 0i Standard uncertainty u (H) of 0 ) i The calculation formula of (a) is as follows:
in the formula (I), the compound is shown in the specification,
R i the half width of a possible value interval of the GNSS elevation measurement result of the ith sequence in the dynamic measurement is set;
containing a factor
In the above scheme, h i Standard uncertainty of u (h) i The evaluation method of (1) is as follows:
(1) The calculation formula of the GNSS antenna elevation correction h is as follows:
h＝h 0 ×cosε×cosθ (7)
in the formula (I), the compound is shown in the specification,
h is the vertical distance from the phase center of the GNSS antenna to the sea surface in the marine dynamic environment;
h 0 the vertical distance from the phase center of the GNSS antenna to the sea surface when the GNSS antenna is in still water is a fixed value for the same buoy;
epsilon and theta are dynamic roll angle and pitching angle of the buoy respectively, and are dynamic measurement values;
(2) From the formula (7), three uncertainty input quantities of GNSS antenna elevation correction can be seen, wherein h is 0 Measured by a total station, and epsilon and theta are measured by a built-in attitude measuring sensor of the buoy, so h 0 The correlation coefficient is 0, and is irrelevant to epsilon and theta; the epsilon and the theta are simultaneously measured by the same sensor, the positive and strong correlation exists between the epsilon and the theta, and the correlation coefficient is 1; according to the uncertainty propagation law, the synthesis formula of the GNSS antenna elevation correction standard uncertainty u (h) in a single instantaneous sea surface elevation result is as follows:
in the formula (I), the compound is shown in the specification,
u(h 0 ) Is h 0 The standard uncertainty of (2);
u (ε) is the standard uncertainty of ε;
a ε the maximum allowable error absolute value of epsilon; containing a factor
u (θ) is the standard uncertainty of θ;
a θ the maximum allowable error absolute value of theta; containing a factor
(3) By evaluation of u (h) 0 ) Is millimeter magnitude, the total uncertainty of the GNSS antenna elevation correction is centimeter magnitude, u (h) 0 ) Well below u 2 Neglecting it in the calculation process, so that the ith instantaneous sea surface elevation result H in each minute in the dynamic measurement i Standard uncertainty u (H) i The calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
(4) Substituting the formulas (9), (10), (12) and (13) into the formula (11), and calculating to obtain h i Standard uncertainty u (h) i 。
In the above scheme, the calculation formula of the standard uncertainty u (N) of N is as follows:
in the formula (I), the compound is shown in the specification,
a N to maximize the allowable error, take a N ＝5cm，
Comprises a factor of
Through the technical scheme, the tide level measurement uncertainty evaluation method based on the GNSS ocean buoy, provided by the invention, is based on the knowledge of the structure of a measurement system and the processing flow of measurement data, decomposes a long-time dynamic measurement process into a series of static measurement processes, and evaluates the uncertainty of the series of static measurement processes. The sea surface elevation observation data sampling rate of the GNSS tide buoy is 1Hz, the 1Hz sea surface elevation measurement process is regarded as static measurement, and the long-time dynamic measurement process is regarded as a set of static measurement with the sampling rate of 1 Hz. And establishing a comprehensive and accurate measurement model aiming at the measurement data of each Hz, analyzing the source of each uncertainty component, and evaluating the measurement uncertainty of the original measurement result by a GUM method second by second. And then evaluating the uncertainty of the final sea level measurement result of the GNSS tide buoy according to a measurement model from the original observation value to the sea level result.
The evaluation method can improve the accuracy of uncertainty evaluation of GNSS tide level measuring buoy data results, ensure that the GNSS tide level measuring buoy provides a qualified and reliable measuring result, and enable the GNSS tide level measuring buoy to better serve the field of ocean observation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic view illustrating a principle of measuring a sea level based on a GNSS ocean buoy according to an embodiment of the present invention;
FIG. 2 is a sequence of GNSS dynamic elevation RMS values;
FIG. 3 is a sequence diagram of dynamic roll angles of the buoy;
FIG. 4 is a diagram showing a sequence of dynamic pitch angles of the buoy;
FIG. 5 is a diagram of GNSS dynamic elevation uncertainty component u (H) 0 ) i A sequence diagram;
FIG. 6 shows a GNSS antenna with high correction uncertainty u (h) component i A sequence diagram;
FIG. 7 shows the uncertainty u (H) of the instantaneous sea surface elevation standard i A sequence diagram;
FIG. 8 shows standard uncertainty u of tide level synthesis c (T) j A sequence diagram;
FIG. 9 shows the uncertainty of the tidal level expansion U 99j And (4) a sequence diagram.
Fig. 2, fig. 3 and fig. 4 are respectively a sequence of original dynamic observation data captured and used for the GNSS tide buoy of the present invention, the start and stop times of the three data are the same, in the three figures, the abscissa is the data serial number arranged in time sequence, the interval is 1 second, and the ordinate is the amplitude of each data. FIGS. 5 and 6 are dynamic standard uncertainty u (H) of instantaneous sea surface elevation calculated from the data of FIGS. 2, 3 and 4, respectively i The horizontal coordinate is a data serial number arranged according to the time sequence, the interval is the same as the original observation data, and the vertical coordinate is the amplitude of the uncertain component. FIG. 7 is a graph showing data obtained by using the data shown in FIGS. 5 and 6Synthesizing the obtained instantaneous sea surface elevation dynamic standard uncertainty sequence u (H) i The abscissa is a data number arranged in time series, and the interval is the same as the data in fig. 5 and 6. FIG. 8 is a sequence u of standard uncertainty in tide level synthesis synthesized from the data of FIG. 7 c (T) j The abscissa is the data number in chronological order at intervals of 1 minute.
FIG. 9 is a sequence of tide level expansion uncertainty U synthesized from the data of FIG. 8 99j The abscissa of the final result provided by the present invention is the same as that of fig. 8.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a method for evaluating uncertainty of sea level measurement based on a GNSS ocean buoy, which comprises the following specific embodiments:
as shown in fig. 1, the principle of measuring the sea level of the GNSS ocean buoy is to calculate the sea level data according to the following method, taking an example that a certain type of GNSS tidal measurement buoy is tested in a wharf of the island of chanterland of south-sea branch, guangzhou.
1) And dynamic post-processing technology is adopted for calculating the elevation of the phase center of the GNSS antenna. The basic process is as follows: calculating the coordinates of the reference station in the WGS84 by using a precise ephemeris and clock error file provided by an International GNSS Service organization (IGS) and combining IGS stations around the reference station; and (3) taking the spatial correlation of the positioning error between the reference station and the observation station into consideration, and obtaining the accurate three-dimensional coordinates of the observation station by adopting a post-processing differential positioning technology of carrier phase measurement [12-13]. The Inertial Explorer software developed by Noretay, canada and used for processing GNSS data can simultaneously process observation data of a Beidou second generation navigation system and a GPS system.
In the data resolving process, the observation quality of part of data is poor, the whole-cycle ambiguity of the data cannot be fixed, the resolving result has gross errors, and the gross errors of the resolved antenna phase center elevation need to be eliminated. The specific method comprises the following steps: performing gross error elimination on the elevation data within 1 minute by adopting a Laval criterion, and solving the average of the elevation data within 1 minuteMean value
And standard deviation σ, if the ith value X therein i Satisfy the requirements of
It is discarded as gross error.
2) In order to better inhibit the multipath effect of the GNSS receiving antenna, the GNSS receiving antenna is generally installed a distance above the sea surface, so that the phase elevation of the GNSS receiving antenna needs to be corrected by using attitude data to obtain the instantaneous sea elevation of the sea area measured by the tide gauge equipment. The correction formula is as follows:
in the formula, H i Is the instantaneous sea surface elevation of the sea area measured by the equipment; h is the GNSS antenna phase center elevation; h is 0 The height of the GNSS antenna from the sea surface when the equipment is in a static state; epsilon and theta are the instantaneous roll and pitch angles of the device, respectively.
3) And performing Kalman filtering on the obtained instantaneous sea surface elevation to remove high-frequency signals such as surge and noise. According to the provisions of the sea survey Specification on the tidal observation method, the instantaneous sea surface elevation is subjected to a moving average, so that the data sampling interval thereof becomes 1 minute.
4) The sea surface elevation obtained by the remote tide gauge measurement belongs to the ground height, and a reference ellipsoid is used as the elevation datum. At present, the sea level observation generally adopts national 85 elevation standard, and the sea level can be obtained by subtracting the elevation abnormity of the observed sea area from the ground height [17]. The elevation anomaly of the measured sea area can be obtained by utilizing an EGM2008 model. The EGM2008 geodetic level model is researched and summarized by the united states geospatial information agency for many years, and based on experience and theory of constructing an earth gravitational field model in the past, gravity data acquired by a GRACE satellite and global 5 'x 5' gravity anomaly data are utilized by taking PGM2007B as a reference model. Through the formula of the model, the longitude and latitude coordinates of the measured sea area are input, and the elevation abnormity can be solved.
Then, uncertainty evaluation is carried out on the tidal level measurement result according to the method in the invention content part, which comprises the following steps:
the dynamic measurements comprise a sequence R of GNSS dynamic elevation RMS values i Namely, the half width of the possible value interval of the GNSS elevation measurement result of the ith sequence in the dynamic measurement (as shown in FIG. 2), and the dynamic roll angle sequence epsilon of the buoy i (as shown in fig. 3), buoy dynamic pitch angle sequence θ i (as shown in figure 4) and the vertical distance h from the phase center of the GNSS antenna to the sea surface in still water measured when the buoy is developed 0 (ii) a Data obtained by looking up data has epsilon i And theta i Maximum allowable error absolute value a of ε And a θ 。
The maximum allowable error of the two is 0.2 degrees through the specification of the attitude measurement sensor, namely the half width a of the interval of the possible values of the two ε And a θ Both 0.2 °, and the standard uncertainty value for θ is:
vertical distance h from phase center of GNSS antenna to sea surface in still water measured during development of buoy 0 =143.6cm, and the maximum allowable error of the elevation abnormal value according to the working experience of other researchers is a N ＝±5cm。
When evaluated, R is added i Substituting formula (6) to obtain uncertainty component u (H) 0 ) i Sequence (as shown in fig. 5); will epsilon i 、θ i 、h 0 And epsilon i And theta i Maximum allowable error absolute value a of ε And a θ Carrying in the formulas (9), (10), (12) and (13), and finally substituting in the formula (11) to obtain an uncertainty component u (h) i In the sequence (as shown in fig. 6), the uncertainty component u (N) is found by combining equation (14),
then u (H) 0 ) i 、u(h) i Substituting the sum u (N) into the formula (3) to obtain the standard uncertainty u (H) of the GNSS buoy measuring the instantaneous sea level elevation i Sequence (as shown in FIG. 7), all u (H) in every minute i Calculation of Standard uncertainty u of tidal level per minute c (T); u per minute c (T) arranging the sequence u according to the time sequence to obtain a tide level synthesis standard uncertainty sequence u c (T) j (as shown in FIG. 8), finally, the extended uncertainty U is calculated using equation (5) pj (as shown in fig. 9).
In the prior art, simulation data are generally used for providing the same uncertainty evaluation result for all data in an observation time period, and uncertainty evaluation is respectively carried out on each data result based on understanding and analysis of a buoy structure, a working environment and original observation data. Compared with other dynamic uncertainty evaluation methods, the method not only improves the accuracy of the dynamic uncertainty evaluation result, but also comprehensively, detailedly and accurately describes the quality of each datum in the whole observation period.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A tide level measurement uncertainty evaluation method based on a GNSS ocean buoy is characterized by comprising the following steps:
(1) A tidal level measurement model is established,
in the formula (I), the compound is shown in the specification,
t is the tidal level measurement per minute;
n is the number of results of the instantaneous sea level height observed by the buoy in each minute;
H i the ith instantaneous sea surface elevation result in every minute;
(2) Dynamic measurement result H within minute i Has positive and strong correlation, the correlation coefficient is 1, and the sensitivity coefficient is obtained by differentiating the measurement function
From this, the synthetic standard uncertainty u of the tidal level measurement T per minute is determined c (T)：
The ith instantaneous sea surface elevation result H in each minute needs to be determined i ，
H i ＝H 0i -h i -N (3)
In the formula (I), the compound is shown in the specification,
H 0i measuring the ith elevation per minute for the GNSS buoy after differential solution;
h i correcting the ith elevation of the GNSS antenna of the observation station in every minute, namely the vertical distance from the phase center of the GNSS antenna to the sea surface under the marine dynamic environment;
n is an elevation abnormal value of the sea area measured by the buoy, and the value is obtained through a model algorithm and is a fixed value;
the three quantities in equation (3) are uncorrelated, thereby determining the ith instantaneous sea surface elevation result H in minutes i Standard uncertainty u (H) i ，
In the formula (I), the compound is shown in the specification,
u(H 0 ) i is H 0i Standard uncertainty of (2)；
u(h) i Is h i The standard uncertainty of (2);
u (N) is the standard uncertainty of N;
substituting the formula (4) into the formula (2), and calculating to obtain the uncertainty u of the synthetic standard c (T) arranging the standard uncertainty of each minute according to the time sequence to obtain a tide level synthetic standard uncertainty sequence u in the observation period c (T) j Wherein j represents the jth minute within the observation period;
(3) Calculating an extended uncertainty U pj ，
U pj ＝k p ×u c (T) j (5)
In the formula (I), the compound is shown in the specification,
determining the tide level T to be uniformly distributed, and taking the inclusion probability p =0.99, then including the factor k p ＝1.71。
2. The method of claim 1, wherein H is H 0i Standard uncertainty u (H) of 0 ) i The calculation formula of (a) is as follows:
in the formula (I), the compound is shown in the specification,
R i the half width of a possible value interval of the GNSS elevation measurement result of the ith sequence in the dynamic measurement is set;
containing a factor
3. The method of claim 1, wherein h is the uncertainty in the GNSS ocean buoy based tide level measurements i Standard uncertainty of u (h) i The evaluation method of (1) is as follows:
(1) The calculation formula of the GNSS antenna elevation correction h is as follows:
h＝h 0 ×cosε×cosθ (7)
in the formula (I), the compound is shown in the specification,
h is the vertical distance from the phase center of the GNSS antenna to the sea surface in the marine dynamic environment;
h 0 the vertical distance from the phase center of the GNSS antenna to the sea surface when the buoy is still water is a fixed value for the same buoy;
epsilon and theta are respectively a dynamic roll angle and a pitch angle of the buoy, and are dynamic measurement values;
(2) From the formula (7), three uncertainty input quantities of GNSS antenna elevation correction can be seen, wherein h is 0 Measured by a total station, and epsilon and theta are measured by a built-in attitude measuring sensor of the buoy, so h 0 The correlation coefficient is 0, and is not related to epsilon and theta; the epsilon and the theta are simultaneously measured by the same sensor, the positive and strong correlation exists between the epsilon and the theta, and the correlation coefficient is 1; according to the uncertainty propagation law, the synthesis formula of the GNSS antenna elevation correction standard uncertainty u (h) in a single instantaneous sea surface elevation result is as follows:
in the formula (I), the compound is shown in the specification,
u(h 0 ) Is h 0 Standard uncertainty of (2);
u (ε) is the standard uncertainty of ε;
a ε the maximum allowable error absolute value of epsilon; comprising a factor
u (θ) is the standard uncertainty of θ;
a θ the maximum allowable error absolute value of theta; containing a factor
(3) By evaluation of u (h) 0 ) Is millimeter magnitude, the total uncertainty of the GNSS antenna elevation correction is centimeter magnitude, u (h) 0 ) Well below u 2 Neglecting it in the calculation process, so that the ith instantaneous sea surface elevation result H in each minute in the dynamic measurement i Standard uncertainty of u (H) i The calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
(4) Substituting the formulas (9), (10), (12) and (13) into the formula (11), and calculating to obtain h i Standard uncertainty u (h) i 。
4. The method of claim 1, wherein the standard uncertainty u (N) of N is calculated as follows:
in the formula (I), the compound is shown in the specification,
a N to maximize the allowable error, take a N ＝5cm，
Comprises a factor of
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